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          <h1 id="project_title">FKIE Multimaster</h1>
          <h2 id="project_tagline">ROS packages for multimaster support (discovering, synchronizing and management GUI)</h2>

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<h3>
<a name="overview" class="anchor" href="#designer-templates">
<span class="octicon octicon-link"></span></a>
Overview</h3>

<p>This package offers a set of nodes to establish and manage a multimaster network. This requires no or minimal configuration. The changes are automatically detected and synchronized.
<br/>
<br/>
<strong>Packages:</strong>
<ul>
<a href="master_discovery.html">Master Discovery</a> -- discovery using multicast or zeroconf
<br/>
<a href="master_sync.html">Master Synchronization</a> -- Synchronize local ROS master to remote ROS masters
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<a href="node_manager.html">Node Manager</a> -- A GUI to manage the configuration on local and remote ROS masters
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<a href="node_manager_daemon.html">Node Manager Daemon</a> -- Helper node allows an easy launch file management and (auto)start of {remote}nodes
</ul>

<strong>Idea:</strong>
<ul type="square">
  <li>The <a href="master_discovery.html">master_discovery</a> node connects to the ROS-Master, gets changes by polling (1.) and publish the changes (multicast or/and unicast) over the network (2.). The received changes of the remote ROS-Master are published to the local ROS topics (3.). </li>
  <li>The <a href="master_sync.html">master_sync</a> node connects to the discovered <a href="master_discovery.html">master_discovery</a> nodes (4.), requests the actual ROS state and registers the remote topics/service by local ROS master (5.).</li>
  <li>The <a href="node_manager.html">node_manager</a> simplifies launching and managing the ROS multi-master system. It also offers options for managing nodes, topics, services, parameters and launch files through <a href="node_manager_daemon.html">node_manager_daemon</a>. Can also be used in a single ROS master system!</li>
</ul>
</p>

<p><img src="images/ros_multimaster.png" alt="ROS Multimaster"></p>
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